diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index d92474c7..d72354ae 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -109,25 +109,8 @@ void FixedTimeslotTask::taskFunctionality() {
 	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
 	        interval = pdMS_TO_TICKS(intervalMs);
 
-	        /* If all operations are finished and the difference of the
-	         * current time minus the last wake time is larger than the
-	         * expected wait period, a deadline was missed.
-	         * We also check whether an overflow has occured first.
-	         * In this special case, we will ignore missed deadlines for now. */
-	        const TickType_t constTickCount = xTaskGetTickCount();
-	        if(constTickCount < xLastWakeTime or
-	                constTickCount + interval < xLastWakeTime) {
-	            // don't do anything for now.
-	        }
-	        else if(xTaskGetTickCount() - xLastWakeTime >= interval) {
-#ifdef DEBUG
-	            sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
-	                    " missed deadline!\n" << std::flush;
-#endif
-	            if(deadlineMissedFunc != nullptr) {
-	                this->deadlineMissedFunc();
-	            }
-	        }
+	        checkMissedDeadline(xLastWakeTime, interval);
+
 	        // Wait for the interval. This exits immediately if a deadline was
 	        // missed while also updating the last wake time.
 	        vTaskDelayUntil(&xLastWakeTime, interval);
@@ -135,6 +118,40 @@ void FixedTimeslotTask::taskFunctionality() {
 	}
 }
 
+void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
+        const TickType_t interval) {
+    /* Check whether deadline was missed while also taking overflows
+     * into account. Drawing this on paper with a timeline helps to understand
+     * it. */
+    TickType_t currentTickCount = xTaskGetTickCount();
+    TickType_t timeToWake = xLastWakeTime + interval;
+    // Tick count has overflown
+    if(currentTickCount < xLastWakeTime) {
+        // Time to wake has overflown as well. If the tick count
+        // is larger than the time to wake, a deadline was missed.
+        if(timeToWake < xLastWakeTime and
+                currentTickCount > timeToWake) {
+            handleMissedDeadline();
+        }
+    }
+    // No tick count overflow. If the timeToWake has not overflown
+    // and the current tick count is larger than the time to wake,
+    // a deadline was missed.
+    else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
+        handleMissedDeadline();
+    }
+}
+
+void FixedTimeslotTask::handleMissedDeadline() {
+#ifdef DEBUG
+    sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
+            " missed deadline!\n" << std::flush;
+#endif
+    if(deadlineMissedFunc != nullptr) {
+        this->deadlineMissedFunc();
+    }
+}
+
 ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 	vTaskDelay(pdMS_TO_TICKS(ms));
 	return HasReturnvaluesIF::RETURN_OK;
diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index 39db667c..cddd5ecd 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -89,6 +89,10 @@ protected:
 	 * OS's System Calls to keep the timing of the periods.
 	 */
 	void taskFunctionality(void);
+
+	void checkMissedDeadline(const TickType_t xLastWakeTime,
+	        const TickType_t interval);
+	void handleMissedDeadline();
 };
 
 #endif /* POLLINGTASK_H_ */